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GPS_TRIGGERED_FUNCTION Simulation

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This commit is contained in:
Christophe De Wagter
2010-08-27 07:56:32 +00:00
parent a4d6ac9bd4
commit 156f09ac7d
1 changed files with 8 additions and 0 deletions
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sw/airborne/main_ap.c
+8
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@@ -497,6 +497,11 @@ void periodic_task_ap( void ) {
switch(_4Hz) {
case 0:
#ifdef SITL
#ifdef GPS_TRIGGERED_FUNCTION
GPS_TRIGGERED_FUNCTION();
#endif
#endif
estimator_propagate_state();
navigation_task();
break;
@@ -906,13 +911,16 @@ void event_task_ap( void ) {
UseGpsPosNoSend(estimator_update_state_gps);
gps_downlink();
#ifdef GPS_TRIGGERED_FUNCTION
#ifndef SITL
GPS_TRIGGERED_FUNCTION();
#endif
#endif
gps_pos_available = FALSE;
}
}
#endif /** GPS */
#if defined DATALINK
#if DATALINK == PPRZ